OpenRaiser/Intern-Atlas huggingface dataset:
InCoRe -- An Interactive Co-Regulation Model: Training Teacher Communication Skills in Demanding Classroom Situations
Venue: arXiv cs.HC 2025
Year: 2025

Socioemotional and regulation processes in learning are important. We add to the understanding of previous work on co-regulation processes in the learning sciences, extending the caregiver-child paradigm and focusing on the teacher-student relation by presenting an interactive co-regulation model and the methodology for developing empirically grounded systems for training teachers. We focus on the combination of classroom management and affect models and detail the use of a psychological model to operationalise and automate the interaction with the virtual student. We delve into an annotation scheme developed to capture teacher subjective psychological experiences during training and how these affect their co-regulation behavior with students and contributes to understanding the role of teacher emotional experiences and their consequences of co-regulation processes for classroom management. This research is also a contribution to developing hybrid AI systems.
Offline Reinforcement Learning via Inverse Optimization
Venue: arXiv cs.LG 2025
Year: 2025

Inspired by the recent successes of Inverse Optimization (IO) across various application domains, we propose a novel offline Reinforcement Learning (ORL) algorithm for continuous state and action spaces, leveraging the convex loss function called ``sub-optimality loss" from the IO literature. To mitigate the distribution shift commonly observed in ORL problems, we further employ a robust and non-causal Model Predictive Control (MPC) expert steering a nominal model of the dynamics using in-hindsight information stemming from the model mismatch. Unlike the existing literature, our robust MPC expert enjoys an exact and tractable convex reformulation. In the second part of this study, we show that the IO hypothesis class, trained by the proposed convex loss function, enjoys ample expressiveness and achieves competitive performance comparing with the state-of-the-art (SOTA) methods in the low-data regime of the MuJoCo benchmark while utilizing three orders of magnitude fewer parameters, thereby requiring significantly fewer computational resources. To facilitate the reproducibility of our results, we provide an open-source package implementing the proposed algorithms and the experiments.
A2-GNN: Angle-Annular GNN for Visual Descriptor-free Camera Relocalization
Venue: arXiv cs.CV 2025
Year: 2025

Visual localization involves estimating the 6-degree-of-freedom (6-DoF) camera pose within a known scene. A critical step in this process is identifying pixel-to-point correspondences between 2D query images and 3D models. Most advanced approaches currently rely on extensive visual descriptors to establish these correspondences, facing challenges in storage, privacy issues and model maintenance. Direct 2D-3D keypoint matching without visual descriptors is becoming popular as it can overcome those challenges. However, existing descriptor-free methods suffer from low accuracy or heavy computation. Addressing this gap, this paper introduces the Angle-Annular Graph Neural Network (A2-GNN), a simple approach that efficiently learns robust geometric structural representations with annular feature extraction. Specifically, this approach clusters neighbors and embeds each group's distance information and angle as supplementary information to capture local structures. Evaluation on matching and visual localization datasets demonstrates that our approach achieves state-of-the-art accuracy with low computational overhead among visual description-free methods. Our code will be released on https://github.com/YejunZhang/a2-gnn.
A Generative Model Enhanced Multi-Agent Reinforcement Learning Method for Electric Vehicle Charging Navigation
Venue: arXiv cs.LG 2025
Year: 2025

With the widespread adoption of electric vehicles (EVs), navigating for EV drivers to select a cost-effective charging station has become an important yet challenging issue due to dynamic traffic conditions, fluctuating electricity prices, and potential competition from other EVs. The state-of-the-art deep reinforcement learning (DRL) algorithms for solving this task still require global information about all EVs at the execution stage, which not only increases communication costs but also raises privacy issues among EV drivers. To overcome these drawbacks, we introduce a novel generative model-enhanced multi-agent DRL algorithm that utilizes only the EV's local information while achieving performance comparable to these state-of-the-art algorithms. Specifically, the policy network is implemented on the EV side, and a Conditional Variational Autoencoder-Long Short Term Memory (CVAE-LSTM)-based recommendation model is developed to provide recommendation information. Furthermore, a novel future charging competition encoder is designed to effectively compress global information, enhancing training performance. The multi-gradient descent algorithm (MGDA) is also utilized to adaptively balance the weight between the two parts of the training objective, resulting in a more stable training process. Simulations are conducted based on a practical area in Xián, China. Experimental results show that our proposed algorithm, which relies on local information, outperforms existing local information-based methods and achieves less than 8\% performance loss compared to global information-based methods.
Minds on the Move: Decoding Trajectory Prediction in Autonomous Driving with Cognitive Insights
Venue: arXiv cs.RO 2025
Year: 2025

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by the decision-making process of human drivers. However, existing models primarily focus on the inherent statistical patterns in the data, often neglecting the critical aspect of understanding the decision-making processes of human drivers. This oversight results in models that fail to capture the true intentions of human drivers, leading to suboptimal performance in long-term trajectory prediction. To address this limitation, we introduce a Cognitive-Informed Transformer (CITF) that incorporates a cognitive concept, Perceived Safety, to interpret drivers' decision-making mechanisms. Perceived Safety encapsulates the varying risk tolerances across drivers with different driving behaviors. Specifically, we develop a Perceived Safety-aware Module that includes a Quantitative Safety Assessment for measuring the subject risk levels within scenarios, and Driver Behavior Profiling for characterizing driver behaviors. Furthermore, we present a novel module, Leanformer, designed to capture social interactions among vehicles. CITF demonstrates significant performance improvements on three well-established datasets. In terms of long-term prediction, it surpasses existing benchmarks by 12.0% on the NGSIM, 28.2% on the HighD, and 20.8% on the MoCAD dataset. Additionally, its robustness in scenarios with limited or missing data is evident, surpassing most state-of-the-art (SOTA) baselines, and paving the way for real-world applications.
LimeSoDa: A Dataset Collection for Benchmarking of Machine Learning Regressors in Digital Soil Mapping
Venue: arXiv cs.LG 2025
Year: 2025

Digital soil mapping (DSM) relies on a broad pool of statistical methods, yet determining the optimal method for a given context remains challenging and contentious. Benchmarking studies on multiple datasets are needed to reveal strengths and limitations of commonly used methods. Existing DSM studies usually rely on a single dataset with restricted access, leading to incomplete and potentially misleading conclusions. To address these issues, we introduce an open-access dataset collection called Precision Liming Soil Datasets (LimeSoDa). LimeSoDa consists of 31 field- and farm-scale datasets from various countries. Each dataset has three target soil properties: (1) soil organic matter or soil organic carbon, (2) clay content and (3) pH, alongside a set of features. Features are dataset-specific and were obtained by optical spectroscopy, proximal- and remote soil sensing. All datasets were aligned to a tabular format and are ready-to-use for modeling. We demonstrated the use of LimeSoDa for benchmarking by comparing the predictive performance of four learning algorithms across all datasets. This comparison included multiple linear regression (MLR), support vector regression (SVR), categorical boosting (CatBoost) and random forest (RF). The results showed that although no single algorithm was universally superior, certain algorithms performed better in specific contexts. MLR and SVR performed better on high-dimensional spectral datasets, likely due to better compatibility with principal components. In contrast, CatBoost and RF exhibited considerably better performances when applied to datasets with a moderate number (< 20) of features. These benchmarking results illustrate that the performance of a method is highly context-dependent. LimeSoDa therefore provides an important resource for improving the development and evaluation of statistical methods in DSM.
Cutting-edge 3D reconstruction solutions for underwater coral reef images: A review and comparison
Venue: arXiv cs.CV 2025
Year: 2025

Corals serve as the foundational habitat-building organisms within reef ecosystems, constructing extensive structures that extend over vast distances. However, their inherent fragility and vulnerability to various threats render them susceptible to significant damage and destruction. The application of advanced 3D reconstruction technologies for high-quality modeling is crucial for preserving them. These technologies help scientists to accurately document and monitor the state of coral reefs, including their structure, species distribution and changes over time. Photogrammetry-based approaches stand out among existing solutions, especially with recent advancements in underwater videography, photogrammetric computer vision, and machine learning. Despite continuous progress in image-based 3D reconstruction techniques, there remains a lack of systematic reviews and comprehensive evaluations of cutting-edge solutions specifically applied to underwater coral reef images. The emerging advanced methods may have difficulty coping with underwater imaging environments, complex coral structures, and computational resource constraints. They need to be reviewed and evaluated to bridge the gap between many cutting-edge technical studies and practical applications. This paper focuses on the two critical stages of these approaches: camera pose estimation and dense surface reconstruction. We systematically review and summarize classical and emerging methods, conducting comprehensive evaluations through real-world and simulated datasets. Based on our findings, we offer reference recommendations and discuss the development potential and challenges of existing approaches in depth. This work equips scientists and managers with a technical foundation and practical guidance for processing underwater coral reef images for 3D reconstruction....
SSD: A State-based Stealthy Backdoor Attack For Navigation System in UAV Route Planning
Venue: arXiv cs.CR 2025
Year: 2025

Unmanned aerial vehicles (UAVs) are increasingly employed to perform high-risk tasks that require minimal human intervention. However, UAVs face escalating cybersecurity threats, particularly from GNSS spoofing attacks. While previous studies have extensively investigated the impacts of GNSS spoofing on UAVs, few have focused on its effects on specific tasks. Moreover, the influence of UAV motion states on the assessment of network security risks is often overlooked. To address these gaps, we first provide a detailed evaluation of how motion states affect the effectiveness of network attacks. We demonstrate that nonlinear motion states not only enhance the effectiveness of position spoofing in GNSS spoofing attacks but also reduce the probability of speed-related attack detection. Building upon this, we propose a state-triggered backdoor attack method (SSD) to deceive GNSS systems and assess its risk to trajectory planning tasks. Extensive validation of SSD's effectiveness and stealthiness is conducted. Experimental results show that, with appropriately tuned hyperparameters, SSD significantly increases positioning errors and the risk of task failure, while maintaining 100% stealth across three state-of-the-art detectors.
Wildcat: Educational RISC-V Microprocessors
Venue: arXiv cs.AR 2025
Year: 2025

In computer architecture courses, we usually teach RISC processors using a five-stage pipeline, neglecting alternative organizations. This design choice, rooted in the 1980s technology, may not be optimal today, and it is certainly not the easiest pipeline for education. This paper examines more straightforward pipeline organizations for RISC processors that are suitable for educational purposes and for implementing embedded processors in FPGAs and ASICs. We analyze resource costs and maximum clock frequency of various designs implemented in an FPGA, using clock frequency as a performance proxy. Additionally, we validate these results with ASIC designs synthesized using the open-source SkyWater130 process. Contradictory to common wisdom, a longer pipeline (up to 5 stages) does not necessarily always increase the maximum clock frequency. In two FPGA and one ASIC implementation, we discovered that a four- or five-stage pipeline leads to a slower clock frequency than a three-stage implementation. The reason is that the width of the forwarding multiplexer in the execution stage increases with longer pipelines, which is on the critical path. We also argue that a 3-stage pipeline organization is more adequate for teaching a pipeline organization of a microprocessor.
Mixture of Experts for Recognizing Depression from Interview and Reading Tasks
Venue: arXiv cs.LG 2025
Year: 2025

Depression is a mental disorder and can cause a variety of symptoms, including psychological, physical, and social. Speech has been proved an objective marker for the early recognition of depression. For this reason, many studies have been developed aiming to recognize depression through speech. However, existing methods rely on the usage of only the spontaneous speech neglecting information obtained via read speech, use transcripts which are often difficult to obtain (manual) or come with high word-error rates (automatic), and do not focus on input-conditional computation methods. To resolve these limitations, this is the first study in depression recognition task obtaining representations of both spontaneous and read speech, utilizing multimodal fusion methods, and employing Mixture of Experts (MoE) models in a single deep neural network. Specifically, we use audio files corresponding to both interview and reading tasks and convert each audio file into log-Mel spectrogram, delta, and delta-delta. Next, the image representations of the two tasks pass through shared AlexNet models. The outputs of the AlexNet models are given as input to a multimodal fusion method. The resulting vector is passed through a MoE module. In this study, we employ three variants of MoE, namely sparsely-gated MoE and multilinear MoE based on factorization. Findings suggest that our proposed approach yields an Accuracy and F1-score of 87.00% and 86.66% respectively on the Androids corpus.
AI Will Always Love You: Studying Implicit Biases in Romantic AI Companions
Venue: arXiv cs.AI 2025
Year: 2025

While existing studies have recognised explicit biases in generative models, including occupational gender biases, the nuances of gender stereotypes and expectations of relationships between users and AI companions remain underexplored. In the meantime, AI companions have become increasingly popular as friends or gendered romantic partners to their users. This study bridges the gap by devising three experiments tailored for romantic, gender-assigned AI companions and their users, effectively evaluating implicit biases across various-sized LLMs. Each experiment looks at a different dimension: implicit associations, emotion responses, and sycophancy. This study aims to measure and compare biases manifested in different companion systems by quantitatively analysing persona-assigned model responses to a baseline through newly devised metrics. The results are noteworthy: they show that assigning gendered, relationship personas to Large Language Models significantly alters the responses of these models, and in certain situations in a biased, stereotypical way.
Selective Use of Yannakakis' Algorithm to Improve Query Performance: Machine Learning to the Rescue
Venue: arXiv cs.DB 2025
Year: 2025

Query optimization has played a central role in database research for decades. However, more often than not, the proposed optimization techniques lead to a performance improvement in some, but not in all, situations. Therefore, we urgently need a methodology for designing a decision procedure that decides for a given query whether the optimization technique should be applied or not. In this work, we propose such a methodology with a focus on Yannakakis-style query evaluation as our optimization technique of interest. More specifically, we formulate this decision problem as an algorithm selection problem and we present a Machine Learning based approach for its solution. Empirical results with several benchmarks on a variety of database systems show that our approach indeed leads to a statistically significant performance improvement.
GreenDFL: a Framework for Assessing the Sustainability of Decentralized Federated Learning Systems
Venue: arXiv cs.CY 2025
Year: 2025

Decentralized Federated Learning (DFL) is an emerging paradigm that enables collaborative model training without centralized data and model aggregation, enhancing privacy and resilience. However, its sustainability remains underexplored, as energy consumption and carbon emissions vary across different system configurations. Understanding the environmental impact of DFL is crucial for optimizing its design and deployment. This work aims to develop a comprehensive and operational framework for assessing the sustainability of DFL systems. To address it, this work provides a systematic method for quantifying energy consumption and carbon emissions, offering insights into improving the sustainability of DFL. This work proposes GreenDFL, a fully implementable framework that has been integrated into a real-world DFL platform. GreenDFL systematically analyzes the impact of various factors, including hardware accelerators, model architecture, communication medium, data distribution, network topology, and federation size, on the sustainability of DFL systems. Besides, a sustainability-aware aggregation algorithm (GreenDFL-SA) and a node selection algorithm (GreenDFL-SN) are developed to optimize energy efficiency and reduce carbon emissions in DFL training. Empirical experiments are conducted on multiple datasets, measuring energy consumption and carbon emissions at different phases of the DFL lifecycle. The proposed GreenDFL provides a comprehensive and practical approach for assessing the sustainability of DFL systems. Furthermore, it offers best practices for improving environmental efficiency in DFL, making sustainability considerations more actionable in real-world deployments.
From Retrieval to Generation: Comparing Different Approaches
Venue: arXiv cs.CL 2025
Year: 2025

Knowledge-intensive tasks, particularly open-domain question answering (ODQA), document reranking, and retrieval-augmented language modeling, require a balance between retrieval accuracy and generative flexibility. Traditional retrieval models such as BM25 and Dense Passage Retrieval (DPR), efficiently retrieve from large corpora but often lack semantic depth. Generative models like GPT-4-o provide richer contextual understanding but face challenges in maintaining factual consistency. In this work, we conduct a systematic evaluation of retrieval-based, generation-based, and hybrid models, with a primary focus on their performance in ODQA and related retrieval-augmented tasks. Our results show that dense retrievers, particularly DPR, achieve strong performance in ODQA with a top-1 accuracy of 50.17\% on NQ, while hybrid models improve nDCG@10 scores on BEIR from 43.42 (BM25) to 52.59, demonstrating their strength in document reranking. Additionally, we analyze language modeling tasks using WikiText-103, showing that retrieval-based approaches like BM25 achieve lower perplexity compared to generative and hybrid methods, highlighting their utility in retrieval-augmented generation. By providing detailed comparisons and practical insights into the conditions where each approach excels, we aim to facilitate future optimizations in retrieval, reranking, and generative models for ODQA and related knowledge-intensive applications.
Beyond Natural Language Perplexity: Detecting Dead Code Poisoning in Code Generation Datasets
Venue: arXiv cs.CL 2025
Year: 2025

The increasing adoption of large language models (LLMs) for code-related tasks has raised concerns about the security of their training datasets. One critical threat is dead code poisoning, where syntactically valid but functionally redundant code is injected into training data to manipulate model behavior. Such attacks can degrade the performance of neural code search systems, leading to biased or insecure code suggestions. Existing detection methods, such as token-level perplexity analysis, fail to effectively identify dead code due to the structural and contextual characteristics of programming languages. In this paper, we propose DePA (Dead Code Perplexity Analysis), a novel line-level detection and cleansing method tailored to the structural properties of code. DePA computes line-level perplexity by leveraging the contextual relationships between code lines and identifies anomalous lines by comparing their perplexity to the overall distribution within the file. Our experiments on benchmark datasets demonstrate that DePA significantly outperforms existing methods, achieving 0.14-0.19 improvement in detection F1-score and a 44-65% increase in poisoned segment localization precision. Furthermore, DePA enhances detection speed by 0.62-23x, making it practical for large-scale dataset cleansing. Overall, by addressing the unique challenges of dead code poisoning, DePA provides a robust and efficient solution for safeguarding the integrity of code generation model training datasets.
Large Language Models as Attribution Regularizers for Efficient Model Training
Venue: arXiv cs.LG 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable performance across diverse domains. However, effectively leveraging their vast knowledge for training smaller downstream models remains an open challenge, especially in domains like tabular data learning, where simpler models are often preferred due to interpretability and efficiency. In this paper, we introduce a novel yet straightforward method for incorporating LLM-generated global task feature attributions into the training process of smaller networks. Specifically, we propose an attribution-matching regularization term that aligns the training dynamics of the smaller model with the insights provided by the LLM. By doing so, our approach yields superior performance in few-shot learning scenarios. Notably, our method requires only black-box API access to the LLM, making it easy to integrate into existing training pipelines with minimal computational overhead. Furthermore, we demonstrate how this method can be used to address common issues in real-world datasets, such as skewness and bias. By integrating high-level knowledge from LLMs, our approach improves generalization, even when training data is limited or imbalanced. We validate its effectiveness through extensive experiments across multiple tasks, demonstrating improved learning efficiency and model robustness.